本文整理了Java中us.ihmc.graphicsDescription.yoGraphics.YoGraphicPosition.createArtifact()方法的一些代码示例，展示了YoGraphicPosition.createArtifact()的具体用法。这些代码示例主要来源于Github/Stackoverflow/Maven等平台，是从一些精选项目中提取出来的代码，具有较强的参考意义，能在一定程度帮忙到你。YoGraphicPosition.createArtifact()方法的具体详情如下：
包路径：us.ihmc.graphicsDescription.yoGraphics.YoGraphicPosition
类名称：YoGraphicPosition
方法名：createArtifact

YoGraphicPosition.createArtifact介绍

暂无

代码示例

代码示例来源：origin: us.ihmc/ihmc-graphics-description

private void registerArtifacts(String name, YoGraphicsListRegistry yoGraphicsListRegistry)
{
 if (yoGraphicsListRegistry != null)
 {
   artifactList = new ArtifactList(name + "Balls");
   for (YoGraphicPosition yoGraphicPosition : yoGraphicPositions)
   {
    artifactList.add(yoGraphicPosition.createArtifact());
   }
   yoGraphicsListRegistry.registerArtifactList(artifactList);
 }
}

代码示例来源：origin: us.ihmc/CommonWalkingControlModules

public void createVisualizerForConstantCMPs(YoGraphicsList yoGraphicsList, ArtifactList artifactList)
{
 for (int i = 0; i < entryCMPs.size(); i++)
 {
   YoGraphicPosition entryCMPViz = new YoGraphicPosition("Entry CMP" + i, entryCMPsInWorldFrameReadOnly.get(i), CMP_POINT_SIZE, YoAppearance.Green(),
      GraphicType.SOLID_BALL);
   yoGraphicsList.add(entryCMPViz);
   artifactList.add(entryCMPViz.createArtifact());
 }
 for (int i = 0; i < exitCMPs.size(); i++)
 {
   YoGraphicPosition exitCMPViz = new YoGraphicPosition("Exit CMP" + i, exitCMPsInWorldFrameReadOnly.get(i), CMP_POINT_SIZE, YoAppearance.Green(),
      GraphicType.BALL);
   yoGraphicsList.add(exitCMPViz);
   artifactList.add(exitCMPViz.createArtifact());
 }
}

代码示例来源：origin: us.ihmc/CommonWalkingControlModules

public void createVisualizers(YoGraphicsList yoGraphicsList, ArtifactList artifactList)
{
 YoGraphicPosition startOfSplineICPViz = new YoGraphicPosition("singleSupportInitialSplineICP", yoStartOfSplineICP, 0.004, YoAppearance.Black(),
    GraphicType.SOLID_BALL);
 yoGraphicsList.add(startOfSplineICPViz);
 artifactList.add(startOfSplineICPViz.createArtifact());
 YoGraphicPosition endOfSplineICPViz = new YoGraphicPosition("singleSupportFinalSplineICP", yoEndOfSplineICP, 0.004, YoAppearance.Black(),
    GraphicType.BALL);
 yoGraphicsList.add(endOfSplineICPViz);
 artifactList.add(endOfSplineICPViz.createArtifact());
}

代码示例来源：origin: us.ihmc/CommonWalkingControlModules

private void setupVisualizers(YoGraphicsListRegistry yoGraphicsListRegistry, boolean visualize)
{
 YoGraphicsList yoGraphicsList = new YoGraphicsList(getClass().getSimpleName());
 ArtifactList artifactList = new ArtifactList(getClass().getSimpleName());
 YoGraphicPosition previousExitCMP = new YoGraphicPosition("previousExitCMP", previousStanceExitCMP, 0.01, YoAppearance.Red(), GraphicType.SQUARE);
 YoGraphicPosition entryCMP = new YoGraphicPosition("entryCMP", stanceEntryCMP, 0.01, YoAppearance.Red(), GraphicType.SQUARE);
 YoGraphicPosition exitCMP = new YoGraphicPosition("exitCMP", stanceExitCMP, 0.01, YoAppearance.Red(), GraphicType.SQUARE);
 YoGraphicPosition finalICP = new YoGraphicPosition("finalICP", this.finalICP, 0.005, YoAppearance.Black(), GraphicType.SOLID_BALL);
 yoGraphicsList.add(finalICP);
 artifactList.add(previousExitCMP.createArtifact());
 artifactList.add(entryCMP.createArtifact());
 artifactList.add(exitCMP.createArtifact());
 artifactList.add(finalICP.createArtifact());
 artifactList.setVisible(visualize);
 yoGraphicsList.setVisible(visualize);
 yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 yoGraphicsListRegistry.registerArtifactList(artifactList);
}

代码示例来源：origin: us.ihmc/IHMCStateEstimation

public CenterOfPressureVisualizer(Map<RigidBody, FootSwitchInterface> footSwitches,
   YoGraphicsListRegistry yoGraphicsListRegistry, YoVariableRegistry parentRegistry)
{
 this.footSwitches = footSwitches;
 footRigidBodies = footSwitches.keySet();
 for (RigidBody rigidBody : footRigidBodies)
 {
   String rigidBodyName = rigidBody.getName();
   rigidBodyName = WordUtils.capitalize(rigidBodyName);
   YoFramePoint rawCoPPositionInWorld = new YoFramePoint("raw" + rigidBodyName + "CoPPositionsInWorld", worldFrame, registry);
   footRawCoPPositionsInWorld.put(rigidBody, rawCoPPositionInWorld);
   YoGraphicPosition copDynamicGraphic = new YoGraphicPosition("Meas " + rigidBodyName + "CoP", rawCoPPositionInWorld, 0.008, YoAppearance.DarkRed(), GraphicType.DIAMOND);
   YoArtifactPosition copArtifact = copDynamicGraphic.createArtifact();
   yoGraphicsListRegistry.registerArtifact("StateEstimator", copArtifact);
   footList.add(rigidBody);
 }
 overallRawCoPPositionInWorld = new YoFramePoint("overallRawCoPPositionInWorld", worldFrame, registry);
 YoGraphicPosition overallRawCoPDynamicGraphic = new YoGraphicPosition("Meas CoP", overallRawCoPPositionInWorld, 0.015, YoAppearance.DarkRed(), GraphicType.DIAMOND);
 YoArtifactPosition overallRawCoPArtifact = overallRawCoPDynamicGraphic.createArtifact();
 overallRawCoPArtifact.setVisible(false);
 yoGraphicsListRegistry.registerArtifact("StateEstimator", overallRawCoPArtifact);
 parentRegistry.addChild(registry);
}

代码示例来源：origin: us.ihmc/CommonWalkingControlModules

private void setupVisualizers(YoGraphicsListRegistry yoGraphicsListRegistry, boolean visualize)
{
 YoGraphicsList yoGraphicsList = new YoGraphicsList(getClass().getSimpleName());
 ArtifactList artifactList = new ArtifactList(getClass().getSimpleName());
 YoGraphicPosition actualEndOfStateICP = new YoGraphicPosition("actualEndOfStateICP", this.actualEndOfStateICP, 0.005, YoAppearance.Aquamarine(),
    GraphicType.SOLID_BALL);
 YoGraphicPosition nominalReferenceICP = new YoGraphicPosition("nominalReferenceICP", this.nominalReferenceICP, 0.01, YoAppearance.LightYellow(),
    GraphicType.BALL);
 YoGraphicPosition nominalEndOfStateICP = new YoGraphicPosition("nominalEndOfStateICP", this.nominalEndOfStateICP, 0.01, YoAppearance.Green(),
    GraphicType.SOLID_BALL);
 yoGraphicsList.add(actualEndOfStateICP);
 yoGraphicsList.add(nominalReferenceICP);
 yoGraphicsList.add(nominalEndOfStateICP);
 artifactList.add(actualEndOfStateICP.createArtifact());
 artifactList.add(nominalReferenceICP.createArtifact());
 artifactList.add(nominalEndOfStateICP.createArtifact());
 yoGraphicsList.setVisible(visualize);
 artifactList.setVisible(visualize);
 YoGraphicPosition referenceICP = new YoGraphicPosition("controllerReferenceICP", controllerReferenceICP, 0.005, YoAppearance.Yellow(), GraphicType.BALL_WITH_CROSS);
 YoGraphicPosition referenceCMP = new YoGraphicPosition("controllerReferenceCMP", controllerReferenceCMP, 0.005, YoAppearance.Beige(), GraphicType.BALL_WITH_CROSS);
 String name = "ICPOptimization";
 yoGraphicsListRegistry.registerArtifact(name, referenceICP.createArtifact());
 yoGraphicsListRegistry.registerArtifact(name, referenceCMP.createArtifact());
 yoGraphicsListRegistry.registerYoGraphic(name, referenceICP);
 yoGraphicsListRegistry.registerYoGraphic(name, referenceCMP);
 yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 yoGraphicsListRegistry.registerArtifactList(artifactList);
}

代码示例来源：origin: us.ihmc/CommonWalkingControlModules

private void setupVisualizers(YoGraphicsListRegistry yoGraphicsListRegistry)
{
 YoGraphicsList yoGraphicsList = new YoGraphicsList(getClass().getSimpleName());
 ArtifactList artifactList = new ArtifactList(getClass().getSimpleName());
 referenceCMPsCalculator.createVisualizerForConstantCMPs(yoGraphicsList, artifactList);
 for (int i = 0; i < numberFootstepsToConsider.getIntegerValue() - 1; i++)
 {
   YoGraphicPosition icpEarlyCornerPointsViz = new YoGraphicPosition("EntryCornerPoints" + i,
      entryCornerPoints.get(i).buildUpdatedYoFramePointForVisualizationOnly(), ICP_CORNER_POINT_SIZE, YoAppearance.Blue(), GraphicType.SOLID_BALL);
   yoGraphicsList.add(icpEarlyCornerPointsViz);
   artifactList.add(icpEarlyCornerPointsViz.createArtifact());
   YoGraphicPosition lateCornerPointsViz = new YoGraphicPosition("ExitCornerPoints" + i,
      exitCornerPoints.get(i).buildUpdatedYoFramePointForVisualizationOnly(), ICP_CORNER_POINT_SIZE, YoAppearance.Blue(), GraphicType.BALL);
   yoGraphicsList.add(lateCornerPointsViz);
   artifactList.add(lateCornerPointsViz.createArtifact());
 }
 YoGraphicPosition singleSupportInitialICPViz = new YoGraphicPosition("singleSupportInitialICP",
    singleSupportInitialICP.buildUpdatedYoFramePointForVisualizationOnly(), 0.004, YoAppearance.Chocolate(), GraphicType.SOLID_BALL);
 yoGraphicsList.add(singleSupportInitialICPViz);
 artifactList.add(singleSupportInitialICPViz.createArtifact());
 YoGraphicPosition singleSupportFinalICPViz = new YoGraphicPosition("singleSupportFinalICP",
    singleSupportFinalICP.buildUpdatedYoFramePointForVisualizationOnly(), 0.004, YoAppearance.Chocolate(), GraphicType.BALL);
 yoGraphicsList.add(singleSupportFinalICPViz);
 artifactList.add(singleSupportFinalICPViz.createArtifact());
 icpSingleSupportTrajectoryGenerator.createVisualizers(yoGraphicsList, artifactList);
 artifactList.setVisible(VISUALIZE);
 yoGraphicsList.setVisible(VISUALIZE);
 yoGraphicsListRegistry.registerYoGraphicsList(yoGraphicsList);
 yoGraphicsListRegistry.registerArtifactList(artifactList);
}

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

private void createGraphicsAndArtifacts(YoGraphicsListRegistry yoGraphicsListRegistry)
{
 yoGraphicsListRegistry.registerYoGraphic("Frames", leftMidZUpFrameViz);
 yoGraphicsListRegistry.registerYoGraphic("Frames", rightMidZUpFrameViz);
 yoGraphicsListRegistry.registerYoGraphic("target", targetViz);
 yoGraphicsListRegistry.registerArtifact("target", targetViz.createArtifact());
 yoGraphicsListRegistry.registerArtifact("centroidViz", centroidViz.createArtifact());
 yoGraphicsListRegistry.registerYoGraphic("nominalYaw", nominalYawGraphic);
 YoArtifactPolygon supportPolygonArtifact = new YoArtifactPolygon("quadSupportPolygonArtifact", supportPolygon, Color.blue, false);
 YoArtifactPolygon currentTriplePolygonArtifact = new YoArtifactPolygon("currentTriplePolygonArtifact", currentTriplePolygon, Color.GREEN, false);
 yoGraphicsListRegistry.registerArtifact("nominalYawArtifact", nominalYawArtifact);
 yoGraphicsListRegistry.registerArtifact("supportPolygon", supportPolygonArtifact);
 yoGraphicsListRegistry.registerArtifact("currentTriplePolygon", currentTriplePolygonArtifact);
 yoGraphicsListRegistry.setYoGraphicsUpdatedRemotely(true);
}

代码示例来源：origin: us.ihmc/IHMCStateEstimation

String sidePrefix = foot.getName();
YoGraphicPosition copInWorld = new YoGraphicPosition(sidePrefix + "StateEstimatorCoP", copPositionsInWorld.get(foot), 0.005, YoAppearance.DeepPink());
YoArtifactPosition artifact = copInWorld.createArtifact();
artifact.setVisible(false);
yoGraphicsListRegistry.registerArtifact("StateEstimator", artifact);

代码示例来源：origin: us.ihmc/CommonWalkingControlModules

copViz.setVisible(VISUALIZE);
yoGraphicsListRegistry.registerYoGraphic(listName, copViz);
YoArtifactPosition artifact = copViz.createArtifact();
artifact.setVisible(VISUALIZE);
yoGraphicsListRegistry.registerArtifact(listName, artifact);

代码示例来源：origin: us.ihmc/ihmc-common-walking-control-modules-test

private void setupPositionGraphics()
{
 YoFramePoint3D yoCoMPosition = new YoFramePoint3D("CoMPositionForViz", worldFrame, registry);
 comPositionGraphic = new YoGraphicPosition("CoMPositionGraphic", yoCoMPosition, trackBallSize * 2, new YoAppearanceRGBColor(comPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 YoFramePoint3D yoICPPosition = new YoFramePoint3D("ICPPositionForViz", worldFrame, registry);
 icpPositionGraphic = new YoGraphicPosition("ICPPositionGraphic", yoICPPosition, trackBallSize * 2, new YoAppearanceRGBColor(icpPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 YoFramePoint3D yoCMPPosition = new YoFramePoint3D("CMPPositionForViz", worldFrame, registry);
 cmpPositionGraphic = new YoGraphicPosition("CMPPositionGraphic", yoCMPPosition, trackBallSize * 2, new YoAppearanceRGBColor(cmpPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 YoFramePoint3D yoCoPPosition = new YoFramePoint3D("CoPPositionForViz", worldFrame, registry);
 copPositionGraphic = new YoGraphicPosition("CoPPositionGraphic", yoCoPPosition, trackBallSize * 2, new YoAppearanceRGBColor(copPointsColor, 0.0),
                       GraphicType.BALL_WITH_ROTATED_CROSS);
 graphicsListRegistry.registerYoGraphic("GraphicPositions", comPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", comPositionGraphic.createArtifact());
 graphicsListRegistry.registerYoGraphic("GraphicPositions", icpPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", icpPositionGraphic.createArtifact());
 graphicsListRegistry.registerYoGraphic("GraphicPositions", cmpPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", cmpPositionGraphic.createArtifact());
 graphicsListRegistry.registerYoGraphic("GraphicPositions", copPositionGraphic);
 graphicsListRegistry.registerArtifact("GraphicsArtifacts", copPositionGraphic.createArtifact());
}

代码示例来源：origin: us.ihmc/IHMCHumanoidBehaviors

public CapturePointUpdatable(CapturabilityBasedStatusSubscriber capturabilityBasedStatusSubsrciber, YoGraphicsListRegistry yoGraphicsListRegistry,
   YoVariableRegistry parentRegistry)
{
 this.capturabilityBasedStatusSubsrciber = capturabilityBasedStatusSubsrciber;
 YoGraphicPosition capturePointViz = new YoGraphicPosition("Capture Point", yoCapturePoint, 0.01, YoAppearance.Blue(), GraphicType.ROTATED_CROSS);
 yoGraphicsListRegistry.registerArtifact("Capturability", capturePointViz.createArtifact());
 YoGraphicPosition desiredCapturePointViz = new YoGraphicPosition("Desired Capture Point", yoDesiredCapturePoint, 0.01, YoAppearance.Yellow(), GraphicType.ROTATED_CROSS);
 yoGraphicsListRegistry.registerArtifact("Capturability", desiredCapturePointViz.createArtifact());
 YoArtifactPolygon supportPolygonViz = new YoArtifactPolygon("Combined Polygon", yoSupportPolygon, Color.pink, false);
 yoGraphicsListRegistry.registerArtifact("Capturability", supportPolygonViz);
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   String name = sidePrefix + "FootSupportPolygon";
   YoFrameConvexPolygon2d yoFootSupportPolygon = new YoFrameConvexPolygon2d(name, "", worldFrame, 4, registry);
   yoFootSupportPolygons.put(robotSide, yoFootSupportPolygon);
   Color color = FootstepListVisualizer.defaultFeetColors.get(robotSide);
   YoArtifactPolygon footSupportPolygonViz = new YoArtifactPolygon(sidePrefix + "Foot Polygon", yoFootSupportPolygon, color, false);
   yoGraphicsListRegistry.registerArtifact("Capturability", footSupportPolygonViz);
 }
 parentRegistry.addChild(registry);
}

代码示例来源：origin: us.ihmc/ihmc-humanoid-behaviors

public CapturePointUpdatable(CapturabilityBasedStatusSubscriber capturabilityBasedStatusSubsrciber, YoGraphicsListRegistry yoGraphicsListRegistry,
   YoVariableRegistry parentRegistry)
{
 this.capturabilityBasedStatusSubsrciber = capturabilityBasedStatusSubsrciber;
 YoGraphicPosition capturePointViz = new YoGraphicPosition("Capture Point", yoCapturePoint, 0.01, YoAppearance.Blue(), GraphicType.ROTATED_CROSS);
 yoGraphicsListRegistry.registerArtifact("Capturability", capturePointViz.createArtifact());
 YoGraphicPosition desiredCapturePointViz = new YoGraphicPosition("Desired Capture Point", yoDesiredCapturePoint, 0.01, YoAppearance.Yellow(), GraphicType.ROTATED_CROSS);
 yoGraphicsListRegistry.registerArtifact("Capturability", desiredCapturePointViz.createArtifact());
 YoArtifactPolygon supportPolygonViz = new YoArtifactPolygon("Combined Polygon", yoSupportPolygon, Color.pink, false);
 yoGraphicsListRegistry.registerArtifact("Capturability", supportPolygonViz);
 for (RobotSide robotSide : RobotSide.values)
 {
   String sidePrefix = robotSide.getCamelCaseNameForStartOfExpression();
   String name = sidePrefix + "FootSupportPolygon";
   YoFrameConvexPolygon2D yoFootSupportPolygon = new YoFrameConvexPolygon2D(name, "", worldFrame, 4, registry);
   yoFootSupportPolygons.put(robotSide, yoFootSupportPolygon);
   Color color = FootstepListVisualizer.defaultFeetColors.get(robotSide);
   YoArtifactPolygon footSupportPolygonViz = new YoArtifactPolygon(sidePrefix + "Foot Polygon", yoFootSupportPolygon, color, false);
   yoGraphicsListRegistry.registerArtifact("Capturability", footSupportPolygonViz);
 }
 parentRegistry.addChild(registry);
}

代码示例来源：origin: us.ihmc/ihmc-path-planning-test

public static void showPlotter(WaypointDefinedBodyPathPlanner plan, String testName)
{
 int markers = 5;
 YoVariableRegistry registry = new YoVariableRegistry(testName);
 YoGraphicsListRegistry graphicsList = new YoGraphicsListRegistry();
 for (int i = 0; i < markers; i++)
 {
   double alpha = (double) i / (double) (markers - 1);
   Pose2D pose = new Pose2D();
   plan.getPointAlongPath(alpha, pose);
   YoFramePoint3D yoStartPoint = new YoFramePoint3D("PointStart" + i, worldFrame, registry);
   yoStartPoint.set(pose.getX(), pose.getY(), 0.0);
   double length = 0.1;
   YoFrameVector3D direction = new YoFrameVector3D("Direction" + i, worldFrame, registry);
   direction.set(length * Math.cos(pose.getYaw()), length * Math.sin(pose.getYaw()), 0.0);
   YoFramePoint3D yoEndPoint = new YoFramePoint3D("PointEnd" + i, worldFrame, registry);
   yoEndPoint.set(yoStartPoint);
   yoEndPoint.add(direction);
   YoGraphicPosition poseStartVis = new YoGraphicPosition("PointStart" + i, yoStartPoint, 0.01, YoAppearance.Blue());
   YoGraphicPosition poseEndVis = new YoGraphicPosition("PointEnd" + i, yoEndPoint, 0.01, YoAppearance.Red());
   graphicsList.registerArtifact(testName, poseStartVis.createArtifact());
   graphicsList.registerArtifact(testName, poseEndVis.createArtifact());
 }
 showPlotter(graphicsList, testName);
}

代码示例来源：origin: us.ihmc/CommonWalkingControlModules

yoGraphicsListRegistry.registerArtifact(graphicListName, adjustedDesiredCapturePointViz.createArtifact());
yoGraphicsListRegistry.registerArtifact(graphicListName, centerOfMassViz.createArtifact());
yoGraphicsListRegistry.registerArtifact(graphicListName, desiredCapturePointViz.createArtifact());
yoGraphicsListRegistry.registerArtifact(graphicListName, finalDesiredCapturePointViz.createArtifact());
yoGraphicsListRegistry.registerArtifact(graphicListName, desiredCMPViz.createArtifact());
yoGraphicsListRegistry.registerArtifact(graphicListName, achievedCMPViz.createArtifact());
YoArtifactPosition perfectCMPArtifact = perfectCMPViz.createArtifact();
perfectCMPArtifact.setVisible(false);
yoGraphicsListRegistry.registerArtifact(graphicListName, perfectCMPArtifact);

代码示例来源：origin: us.ihmc/CommonWalkingControlModules

YoGraphicPosition planePointViz =
   new YoGraphicPosition(caption, yoPlanePoint, 0.005, YoAppearance.Blue(), GraphicType.SOLID_BALL);
YoArtifactPosition planePointArtifact = planePointViz.createArtifact();
planePointArtifact.setVisible(VISUALIZE);
yoGraphicsListRegistry.registerArtifact(listName, planePointArtifact);

代码示例来源：origin: us.ihmc/CommonWalkingControlModules

YoArtifactPosition artifact = unprojectedDesiredCMPViz.createArtifact();
artifact.setVisible(false);
yoGraphicsListRegistry.registerArtifact(graphicListName, artifact);

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

yoGraphicsListRegistry.registerArtifact("copSnapping", centerOfMassViz.createArtifact());
yoGraphicsListRegistry.registerArtifact("copSnapping", desiredCenterOfPressureViz.createArtifact());
yoGraphicsListRegistry.registerArtifact("copSnapping", snappedDesiredCenterOfPressureViz.createArtifact());
yoGraphicsListRegistry.registerArtifact("centroid", centroidGraphic.createArtifact());
yoGraphicsListRegistry.registerArtifact("weightedCentroid", weightedCentroidGraphic.createArtifact());
yoGraphicsListRegistry.registerArtifact("inscribedCircleCenter", circleCenterGraphic.createArtifact());
yoGraphicsListRegistry.registerArtifact("miniCircle", miniCircle);

代码示例来源：origin: us.ihmc/IHMCStateEstimation

.createArtifact();
yoGraphicsListRegistry.registerArtifact("StateEstimator", comArtifact);

代码示例来源：origin: us.ihmc/IHMCSimulationToolkit

yoGraphicsListRegistry.registerArtifact(prefix + "feetArtifact", footPositionGraphic.createArtifact());